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<div class="title">EulerSystem.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2015 Tal Hadad &lt;tal_hd@hotmail.com&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef EIGEN_EULERSYSTEM_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define EIGEN_EULERSYSTEM_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar_, <span class="keyword">class</span> _System&gt;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">class </span>EulerAngles;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">namespace </span>internal</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="comment">// TODO: Add this trait to the Eigen internal API?</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Num, <span class="keywordtype">bool</span> IsPositive = (Num &gt; 0)&gt;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">struct</span> Abs</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    {</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keyword">enum</span> { value = Num };</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    };</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Num&gt;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">struct </span>Abs&lt;Num, false&gt;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keyword">enum</span> { value = -Num };</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    };</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> Axis&gt;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">struct </span>IsValidAxis</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">enum</span> { value = Axis != 0 &amp;&amp; Abs&lt;Axis&gt;::value &lt;= 3 };</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    };</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> System,</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;            <span class="keyword">typename</span> Other,</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;            <span class="keywordtype">int</span> OtherRows=Other::RowsAtCompileTime,</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;            <span class="keywordtype">int</span> OtherCols=Other::ColsAtCompileTime&gt;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">struct </span>eulerangles_assign_impl;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">  #define EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(COND,MSG) typedef char static_assertion_##MSG[(COND)?1:-1]</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="group__EulerAngles__Module.html#gae614aa7cdd687fb5c421a54f2ce5c361">   63</a></span>&#160;  <span class="keyword">enum</span> <a class="code" href="group__EulerAngles__Module.html#gae614aa7cdd687fb5c421a54f2ce5c361">EulerAxis</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361a11e1ea88cbe04a6fc077475d515d0b38">   65</a></span>&#160;    <a class="code" href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361a11e1ea88cbe04a6fc077475d515d0b38">EULER_X</a> = 1, </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361aee756a2b63043248f3d83541386c266b">   66</a></span>&#160;    <a class="code" href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361aee756a2b63043248f3d83541386c266b">EULER_Y</a> = 2, </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361a95187b9943820cca5edc4bc96b3c08be">EULER_Z</a> = 3  </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361a95187b9943820cca5edc4bc96b3c08be">   68</a></span>&#160;  };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> _AlphaAxis, <span class="keywordtype">int</span> _BetaAxis, <span class="keywordtype">int</span> _GammaAxis&gt;</div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html">  128</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classEigen_1_1EulerSystem.html">EulerSystem</a></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// It&#39;s defined this way and not as enum, because I think</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="comment">//  that enum is not guerantee to support negative numbers</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#a32a9f308f23fcf1ca8e510fdec0387a9">  135</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classEigen_1_1EulerSystem.html#a32a9f308f23fcf1ca8e510fdec0387a9">AlphaAxis</a> = _AlphaAxis;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af93edaf2a5d47dbc0c9f88c3f4d0ba23">  138</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classEigen_1_1EulerSystem.html#af93edaf2a5d47dbc0c9f88c3f4d0ba23">BetaAxis</a> = _BetaAxis;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#aac63efcf284a2908e5a33aaf503ccba3">  141</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classEigen_1_1EulerSystem.html#aac63efcf284a2908e5a33aaf503ccba3">GammaAxis</a> = _GammaAxis;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">enum</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">  145</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a> = internal::Abs&lt;AlphaAxis&gt;::value, </div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba">  146</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba">BetaAxisAbs</a> = internal::Abs&lt;BetaAxis&gt;::value, </div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa121638032850c0d43438aedfb32e3d4f">  147</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa121638032850c0d43438aedfb32e3d4f">GammaAxisAbs</a> = internal::Abs&lt;GammaAxis&gt;::value, </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa44dcc3422221a0284b76970e01f03877">  149</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa44dcc3422221a0284b76970e01f03877">IsAlphaOpposite</a> = (<a class="code" href="classEigen_1_1EulerSystem.html#a32a9f308f23fcf1ca8e510fdec0387a9">AlphaAxis</a> &lt; 0) ? 1 : 0, </div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa940fe9742857e33fa7d036f3a0fff57c">  150</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa940fe9742857e33fa7d036f3a0fff57c">IsBetaOpposite</a> = (<a class="code" href="classEigen_1_1EulerSystem.html#af93edaf2a5d47dbc0c9f88c3f4d0ba23">BetaAxis</a> &lt; 0) ? 1 : 0, </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e7e0d4bd2abf4da43c48c3d0ecafbfe">  151</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e7e0d4bd2abf4da43c48c3d0ecafbfe">IsGammaOpposite</a> = (<a class="code" href="classEigen_1_1EulerSystem.html#aac63efcf284a2908e5a33aaf503ccba3">GammaAxis</a> &lt; 0) ? 1 : 0, </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="comment">// Parity is even if alpha axis X is followed by beta axis Y, or Y is followed</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="comment">// by Z, or Z is followed by X; otherwise it is odd.</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">  155</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">IsOdd</a> = ((<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a>)%3 == (<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba">BetaAxisAbs</a> - 1)%3) ? 0 : 1, </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa5066a58a34a7acfab35b76398d2cd506">  156</a></span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa5066a58a34a7acfab35b76398d2cd506">IsEven</a> = <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">IsOdd</a> ? 0 : 1, </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa900def911be74336de5186063de0a21c">IsTaitBryan</a> = ((unsigned)<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a> != (<span class="keywordtype">unsigned</span>)<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa121638032850c0d43438aedfb32e3d4f">GammaAxisAbs</a>) ? 1 : 0 </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa900def911be74336de5186063de0a21c">  159</a></span>&#160;    };</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis&lt;AlphaAxis&gt;::value,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      ALPHA_AXIS_IS_INVALID);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis&lt;BetaAxis&gt;::value,</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      BETA_AXIS_IS_INVALID);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis&lt;GammaAxis&gt;::value,</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      GAMMA_AXIS_IS_INVALID);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((<span class="keywordtype">unsigned</span>)<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a> != (<span class="keywordtype">unsigned</span>)<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba">BetaAxisAbs</a>,</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      ALPHA_AXIS_CANT_BE_EQUAL_TO_BETA_AXIS);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((<span class="keywordtype">unsigned</span>)<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba">BetaAxisAbs</a> != (<span class="keywordtype">unsigned</span>)<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa121638032850c0d43438aedfb32e3d4f">GammaAxisAbs</a>,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      BETA_AXIS_CANT_BE_EQUAL_TO_GAMMA_AXIS);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="comment">// I, J, K are the pivot indexes permutation for the rotation matrix, that match this Euler system. </span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="comment">// They are used in this class converters.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">// They are always different from each other, and their possible values are: 0, 1, or 2.</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      I_ = <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a> - 1,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      J_ = (<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a> - 1 + 1 + <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">IsOdd</a>)%3,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      K_ = (<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">AlphaAxisAbs</a> - 1 + 2 - <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">IsOdd</a>)%3</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    ;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">// TODO: Get @mat parameter in form that avoids double evaluation.</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> CalcEulerAngles_imp(<a class="codeRef" href="../classEigen_1_1Matrix.html">Matrix</a>&lt;<span class="keyword">typename</span> <a class="codeRef" href="../classEigen_1_1DenseBase.html#a5feed465b3a8e60c47e73ecce83e39a2">MatrixBase&lt;Derived&gt;::Scalar</a>, 3, 1&gt;&amp; res, <span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; mat, internal::true_type <span class="comment">/*isTaitBryan*/</span>)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keyword">using</span> std::atan2;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">using</span> std::sqrt;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Derived::Scalar Scalar;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keyword">const</span> Scalar plusMinus = <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa5066a58a34a7acfab35b76398d2cd506">IsEven</a>? 1 : -1;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">const</span> Scalar minusPlus = <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">IsOdd</a>?  1 : -1;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">const</span> Scalar Rsum = <a class="codeRef" href="../namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>((mat(I_,I_) * mat(I_,I_) + mat(I_,J_) * mat(I_,J_) + mat(J_,K_) * mat(J_,K_) + mat(K_,K_) * mat(K_,K_))/2);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      res[1] = atan2(plusMinus * mat(I_,K_), Rsum);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="comment">// There is a singularity when cos(beta) == 0</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">if</span>(Rsum &gt; 4 * <a class="codeRef" href="../structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::epsilon</a>()) {<span class="comment">// cos(beta) != 0</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        res[0] = atan2(minusPlus * mat(J_, K_), mat(K_, K_));</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        res[2] = atan2(minusPlus * mat(I_, J_), mat(I_, I_));</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span>(plusMinus * mat(I_, K_) &gt; 0) {<span class="comment">// cos(beta) == 0 and sin(beta) == 1</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        Scalar spos = mat(J_, I_) + plusMinus * mat(K_, J_); <span class="comment">// 2*sin(alpha + plusMinus * gamma</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        Scalar cpos = mat(J_, J_) + minusPlus * mat(K_, I_); <span class="comment">// 2*cos(alpha + plusMinus * gamma)</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        Scalar alphaPlusMinusGamma = atan2(spos, cpos);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        res[0] = alphaPlusMinusGamma;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        res[2] = 0;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordflow">else</span> {<span class="comment">// cos(beta) == 0 and sin(beta) == -1</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        Scalar sneg = plusMinus * (mat(K_, J_) + minusPlus * mat(J_, I_)); <span class="comment">// 2*sin(alpha + minusPlus*gamma)</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        Scalar cneg = mat(J_, J_) + plusMinus * mat(K_, I_);               <span class="comment">// 2*cos(alpha + minusPlus*gamma)</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        Scalar alphaMinusPlusBeta = atan2(sneg, cneg);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        res[0] = alphaMinusPlusBeta;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        res[2] = 0;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> CalcEulerAngles_imp(Matrix&lt;<span class="keyword">typename</span> <a class="codeRef" href="../classEigen_1_1DenseBase.html#a5feed465b3a8e60c47e73ecce83e39a2">MatrixBase&lt;Derived&gt;::Scalar</a>,3,1&gt;&amp; res,</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                                    <span class="keyword">const</span> MatrixBase&lt;Derived&gt;&amp; mat, internal::false_type <span class="comment">/*isTaitBryan*/</span>)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">using</span> std::atan2;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keyword">using</span> std::sqrt;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Derived::Scalar Scalar;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keyword">const</span> Scalar plusMinus = <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa5066a58a34a7acfab35b76398d2cd506">IsEven</a>? 1 : -1;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keyword">const</span> Scalar minusPlus = <a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">IsOdd</a>?  1 : -1;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">const</span> Scalar Rsum = <a class="codeRef" href="../namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">sqrt</a>((mat(I_, J_) * mat(I_, J_) + mat(I_, K_) * mat(I_, K_) + mat(J_, I_) * mat(J_, I_) + mat(K_, I_) * mat(K_, I_)) / 2);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      res[1] = atan2(Rsum, mat(I_, I_));</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="comment">// There is a singularity when sin(beta) == 0</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordflow">if</span>(Rsum &gt; 4 * NumTraits&lt;Scalar&gt;::epsilon()) {<span class="comment">// sin(beta) != 0</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        res[0] = atan2(mat(J_, I_), minusPlus * mat(K_, I_));</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        res[2] = atan2(mat(I_, J_), plusMinus * mat(I_, K_));</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span>(mat(I_, I_) &gt; 0) {<span class="comment">// sin(beta) == 0 and cos(beta) == 1</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        Scalar spos = plusMinus * mat(K_, J_) + minusPlus * mat(J_, K_); <span class="comment">// 2*sin(alpha + gamma)</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        Scalar cpos = mat(J_, J_) + mat(K_, K_);                         <span class="comment">// 2*cos(alpha + gamma)</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        res[0] = atan2(spos, cpos);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        res[2] = 0;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">else</span> {<span class="comment">// sin(beta) == 0 and cos(beta) == -1</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        Scalar sneg = plusMinus * mat(K_, J_) + plusMinus * mat(J_, K_); <span class="comment">// 2*sin(alpha - gamma)</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        Scalar cneg = mat(J_, J_) - mat(K_, K_);                         <span class="comment">// 2*cos(alpha - gamma)</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        res[0] = atan2(sneg, cneg);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        res[2] = 0;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> CalcEulerAngles(</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      EulerAngles&lt;Scalar, EulerSystem&gt;&amp; res,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1EulerAngles.html#a9af783749247585b5660ed5209241759">EulerAngles&lt;Scalar, EulerSystem&gt;::Matrix3</a>&amp; mat)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      CalcEulerAngles_imp(</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        res.angles(), mat,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        std::conditional_t&lt;IsTaitBryan, internal::true_type, internal::false_type&gt;());</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa44dcc3422221a0284b76970e01f03877">IsAlphaOpposite</a>)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        res.alpha() = -res.alpha();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa940fe9742857e33fa7d036f3a0fff57c">IsBetaOpposite</a>)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        res.beta() = -res.beta();</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e7e0d4bd2abf4da43c48c3d0ecafbfe">IsGammaOpposite</a>)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        res.gamma() = -res.gamma();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar_, <span class="keyword">class</span> _System&gt;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classEigen_1_1EulerAngles.html">Eigen::EulerAngles</a>;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="classEigen_1_1EulerAngles.html#a1462fffa812b7bec67c8f2e2b2daca52">System</a>,</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            <span class="keyword">typename</span> Other,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            <span class="keywordtype">int</span> OtherRows,</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            <span class="keywordtype">int</span> OtherCols&gt;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keyword">friend</span> <span class="keyword">struct </span>internal::eulerangles_assign_impl;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  };</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="preprocessor">#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="preprocessor"> \</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">  typedef EulerSystem&lt;EULER_##A, EULER_##B, EULER_##C&gt; EulerSystem##A##B##C;</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,Z)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,X)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,Y)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,X)</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,X)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,Y)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Z)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Y)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Y)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Z)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,X)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,Z)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;}</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_EULERSYSTEM_H</span></div>
<div class="ttc" id="aclassEigen_1_1DenseBase_html_a5feed465b3a8e60c47e73ecce83e39a2"><div class="ttname"><a href="../classEigen_1_1DenseBase.html#a5feed465b3a8e60c47e73ecce83e39a2">Eigen::DenseBase::Scalar</a></div><div class="ttdeci">internal::traits&lt; Derived &gt;::Scalar Scalar</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html"><div class="ttname"><a href="classEigen_1_1EulerAngles.html">Eigen::EulerAngles</a></div><div class="ttdoc">Represents a rotation in a 3 dimensional space as three Euler angles.</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:103</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a1462fffa812b7bec67c8f2e2b2daca52"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a1462fffa812b7bec67c8f2e2b2daca52">Eigen::EulerAngles::System</a></div><div class="ttdeci">_System System</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:112</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a9af783749247585b5660ed5209241759"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a9af783749247585b5660ed5209241759">Eigen::EulerAngles::Matrix3</a></div><div class="ttdeci">Matrix&lt; Scalar, 3, 3 &gt; Matrix3</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:114</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html"><div class="ttname"><a href="classEigen_1_1EulerSystem.html">Eigen::EulerSystem</a></div><div class="ttdoc">Represents a fixed Euler rotation system.</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:129</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_a32a9f308f23fcf1ca8e510fdec0387a9"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#a32a9f308f23fcf1ca8e510fdec0387a9">Eigen::EulerSystem::AlphaAxis</a></div><div class="ttdeci">static constexpr int AlphaAxis</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:135</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_aac63efcf284a2908e5a33aaf503ccba3"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#aac63efcf284a2908e5a33aaf503ccba3">Eigen::EulerSystem::GammaAxis</a></div><div class="ttdeci">static constexpr int GammaAxis</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:141</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa121638032850c0d43438aedfb32e3d4f"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa121638032850c0d43438aedfb32e3d4f">Eigen::EulerSystem::GammaAxisAbs</a></div><div class="ttdeci">@ GammaAxisAbs</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:147</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e35fba7036026953caf28323e699dc9">Eigen::EulerSystem::IsOdd</a></div><div class="ttdeci">@ IsOdd</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:155</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa3e7e0d4bd2abf4da43c48c3d0ecafbfe"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa3e7e0d4bd2abf4da43c48c3d0ecafbfe">Eigen::EulerSystem::IsGammaOpposite</a></div><div class="ttdeci">@ IsGammaOpposite</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:151</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa44dcc3422221a0284b76970e01f03877"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa44dcc3422221a0284b76970e01f03877">Eigen::EulerSystem::IsAlphaOpposite</a></div><div class="ttdeci">@ IsAlphaOpposite</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:149</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa5066a58a34a7acfab35b76398d2cd506"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa5066a58a34a7acfab35b76398d2cd506">Eigen::EulerSystem::IsEven</a></div><div class="ttdeci">@ IsEven</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:156</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa58eb5d1cddcc26fc15f643eab45ce06b">Eigen::EulerSystem::AlphaAxisAbs</a></div><div class="ttdeci">@ AlphaAxisAbs</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:145</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa6a215356d13cf14b7c48a27117dbc3ba">Eigen::EulerSystem::BetaAxisAbs</a></div><div class="ttdeci">@ BetaAxisAbs</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:146</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa900def911be74336de5186063de0a21c"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa900def911be74336de5186063de0a21c">Eigen::EulerSystem::IsTaitBryan</a></div><div class="ttdeci">@ IsTaitBryan</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:158</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af4db14dfa28ee9d7c73050b8776ce0eaa940fe9742857e33fa7d036f3a0fff57c"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af4db14dfa28ee9d7c73050b8776ce0eaa940fe9742857e33fa7d036f3a0fff57c">Eigen::EulerSystem::IsBetaOpposite</a></div><div class="ttdeci">@ IsBetaOpposite</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:150</div></div>
<div class="ttc" id="aclassEigen_1_1EulerSystem_html_af93edaf2a5d47dbc0c9f88c3f4d0ba23"><div class="ttname"><a href="classEigen_1_1EulerSystem.html#af93edaf2a5d47dbc0c9f88c3f4d0ba23">Eigen::EulerSystem::BetaAxis</a></div><div class="ttdeci">static constexpr int BetaAxis</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:138</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="../classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="../classEigen_1_1Matrix.html">Eigen::Matrix</a></div></div>
<div class="ttc" id="agroup__EulerAngles__Module_html_gae614aa7cdd687fb5c421a54f2ce5c361"><div class="ttname"><a href="group__EulerAngles__Module.html#gae614aa7cdd687fb5c421a54f2ce5c361">Eigen::EulerAxis</a></div><div class="ttdeci">EulerAxis</div><div class="ttdoc">Representation of a fixed signed rotation axis for EulerSystem.</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:64</div></div>
<div class="ttc" id="agroup__EulerAngles__Module_html_ggae614aa7cdd687fb5c421a54f2ce5c361a11e1ea88cbe04a6fc077475d515d0b38"><div class="ttname"><a href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361a11e1ea88cbe04a6fc077475d515d0b38">Eigen::EULER_X</a></div><div class="ttdeci">@ EULER_X</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:65</div></div>
<div class="ttc" id="agroup__EulerAngles__Module_html_ggae614aa7cdd687fb5c421a54f2ce5c361a95187b9943820cca5edc4bc96b3c08be"><div class="ttname"><a href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361a95187b9943820cca5edc4bc96b3c08be">Eigen::EULER_Z</a></div><div class="ttdeci">@ EULER_Z</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:67</div></div>
<div class="ttc" id="agroup__EulerAngles__Module_html_ggae614aa7cdd687fb5c421a54f2ce5c361aee756a2b63043248f3d83541386c266b"><div class="ttname"><a href="group__EulerAngles__Module.html#ggae614aa7cdd687fb5c421a54f2ce5c361aee756a2b63043248f3d83541386c266b">Eigen::EULER_Y</a></div><div class="ttdeci">@ EULER_Y</div><div class="ttdef"><b>Definition:</b> EulerSystem.h:66</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div></div>
<div class="ttc" id="anamespaceEigen_html_af4f536e8ea56702e63088efb3706d1f0"><div class="ttname"><a href="../namespaceEigen.html#af4f536e8ea56702e63088efb3706d1f0">Eigen::sqrt</a></div><div class="ttdeci">const Eigen::CwiseUnaryOp&lt; Eigen::internal::scalar_sqrt_op&lt; typename Derived::Scalar &gt;, const Derived &gt; sqrt(const Eigen::ArrayBase&lt; Derived &gt; &amp;x)</div></div>
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